CN-121989265-A - Eyeball structure of bionic robot and bionic robot

CN121989265ACN 121989265 ACN121989265 ACN 121989265ACN-121989265-A

Abstract

The application provides an eyeball structure of a bionic robot and the bionic robot, wherein in the eyeball structure of the bionic robot, eyelid, eyeballs and a driving motor are tightly arranged around an eyeball support, the whole structure is compact and simple, the whole structure does not occupy excessive space in the brain of the robot, is particularly suitable for the bionic robot corresponding to the scaling down of a human body model and the like, is easy to produce, assemble and maintain after sale, and reduces the whole cost. In addition, the rotation shaft of eyelid is coaxial with the output shaft of the driving motor, thereby minimizing the hysteresis and noise during the transmission of the transmission mechanism, improving the transmission efficiency, reducing the friction resistance and enabling the anthropomorphic effect of the bionic robot to be better, natural and vivid.

Inventors

WANG XUEQUAN
SUN TUCHUN
GAO CANCAN

Assignees

珠海市一微机器人技术有限公司

Dates

Publication Date: 20260508
Application Date: 20241030

Claims (10)

1. The eyeball structure of the bionic robot is characterized by comprising an eyeball, an eyeball support, a driving motor and eyelid, wherein, The eyeball is fixedly arranged on the eyeball assembly position of the eyeball support, the driving motor is fixedly arranged on the motor assembly position of the eyeball support, The eyelid is rotatably arranged on the eyeball support and covered on the eyeball, the rotating shaft of the eyelid is coaxial with the output shaft of the driving motor, and the eyelid rotates along with the driving motor.
2. The structure of claim 1, wherein the eyelid comprises a first assembly position and a second assembly position, the first assembly position is connected with the output shaft of the driving motor, and the second assembly position is mounted on the eyelid assembly position of the eyeball holder through a bearing.
3. The eyeball structure of claim 2 wherein the eyeball structure of the biomimetic robot includes an eyelid positioning seat, the eyelid positioning seat includes a spline-like structure and a motor output shaft assembly, the spline-like structure is engaged with a groove structure on a first assembly of the eyelid, and the motor output shaft assembly is used for installing an output shaft of the driving motor.
4. A biomimetic robotic eyeball structure according to claim 3 wherein the biomimetic robotic eyeball structure comprises eyelid limiter, wherein the eyelid limiter is connected to the eyelid positioning seat via bearings, and then the eyelid limiter is fixedly mounted to the eyeball support, wherein the eyelid positioning seat comprises a raised structure to which the bearings can be mounted.
5. The eyeball structure of claim 4 wherein the inner ring of the bearing is fixedly assembled on the convex structure of the eyelid positioning seat and the outer ring of the bearing is fixedly assembled on the eyelid limiter, thereby enabling the eyelid limiter to be connected with the eyelid positioning seat through the bearing.
6. The eyeball structure of the bionic robot according to claim 1, wherein the eyeball comprises a display screen, a transparent cover and an eyeball cover, wherein the display screen is fixedly installed on an eyeball installing position of the eyeball support, the transparent cover is covered on the display screen, and the eyeball cover is fixedly installed on the eyeball support and plays a limiting and fixing role on the display screen and the transparent cover.
7. The structure of claim 6, wherein the eye cover and the eye assembly position of the eye support form a receiving cavity when the eye cover is fixedly mounted on the eye support, and the display screen and the transparent cover are disposed in the receiving cavity.
8. The eyeball structure of claim 3 which includes an angle sensor coaxially mounted on the output shaft of the drive motor and disposed between the drive motor and the eyelid positioning seat.
9. The eyeball structure of the bionic robot according to claim 1, wherein the eyeball structure of the bionic robot comprises a driving motor pressing plate which is fixedly arranged on the eyeball support and plays a limiting and fixing role on the driving motor.
10. A biomimetic robot, characterized in that the biomimetic robot comprises an eyeball structure of the biomimetic robot according to any one of claims 1 to 9, which is detachably mounted in the head space of the biomimetic robot by means of a mounting structure on an eyeball support.

Description

Eyeball structure of bionic robot and bionic robot Technical Field The application relates to the technical field of bionic robots, in particular to an eyeball structure of a bionic robot and the bionic robot. Background A bionic robot, also called a humanoid, is a robot intended to imitate the appearance and behavior of a human, in particular to a kind of human body similar to the human body. The bionic structure of the eyes of the human robot is generally designed into an eyeball rotatable structure, so that the functions of opening eyes, closing eyes and blinking can be realized. The Chinese patent with the bulletin number of CN218255167U discloses an internal control device for the action of an eye ball of a simulation robot, which realizes the accurate control of the operation of a steering engine through a controller, further realizes the accurate control of the swing amplitude of a rocker arm, can accurately control the angle and the speed of the opening and closing rotation of a simulated eyelid shell, and can simulate the blink fine control of various emotions more realistically. In the above patent, the simulated eyelid housing and the simulated eyeball are coaxially designed, the steering engine needs to control the simulated eyelid housing through the rocker arm, the structure is not compact enough, the volume of the whole device is overlarge, and if the steering engine is applied to the bionic robot corresponding to the human body model and the like and scaled down, the whole size of the brain of the bionic robot must be enlarged, so that the aesthetic degree of the bionic robot can be influenced. Disclosure of Invention The application provides an eyeball structure of a bionic robot and the bionic robot, and the specific technical scheme is as follows: The utility model provides a bionic robot's eyeball structure, bionic robot's eyeball structure includes eyeball, eyeball support, driving motor and eyelid, wherein, eyeball fixed mounting is in on the eyeball of eyeball support installs the position, driving motor fixed mounting is in on the motor of eyeball support installs the position, the eyelid is rotatably installed on the eyeball support and cover is established on the eyeball, the axis of rotation of eyelid with driving motor's output shaft is coaxial, the eyelid is along with driving motor rotates. Further, the eyelid includes a first assembly location and a second assembly location, the first assembly location being coupled to the output shaft of the drive motor, the second assembly location being mounted on the eyelid assembly location of the tenon's capsule holder by a bearing. Further, the eyeball structure of the bionic robot comprises an eyelid positioning seat, the eyelid positioning seat comprises a spline structure and a motor output shaft assembly position, the spline structure is embedded with a groove structure on a first assembly position of the eyelid, and the motor output shaft assembly position is used for installing an output shaft of the driving motor. Further, the eyeball structure of the bionic robot comprises an eyelid limiting part, the eyelid limiting part is connected with the eyelid positioning seat through a bearing, then the eyelid limiting part is fixedly assembled on the eyeball support, and the eyelid positioning seat comprises a protruding structure capable of assembling the bearing. Further, the inner ring of the bearing is fixedly assembled on the protruding structure of the eyelid positioning seat, and the outer ring of the bearing is fixedly assembled on the eyelid limiting member, so that the eyelid limiting member is connected with the eyelid positioning seat through the bearing. Further, the eyeball comprises a display screen, a transparent cover and an eyeball cover, wherein the display screen is fixedly arranged on an eyeball assembly position of the eyeball support, the transparent cover is arranged on the display screen, and the eyeball cover is fixedly arranged on the eyeball support and plays a limiting and fixing role on the display screen and the transparent cover. Further, when the eyeball cover is fixedly arranged on the eyeball support, an accommodating cavity is formed by the eyeball cover and the eyeball assembly position of the eyeball support, and the display screen and the transparent cover are arranged in the accommodating cavity. Further, the eyeball structure of the bionic robot comprises an angle sensor, wherein the angle sensor is coaxially assembled on an output shaft of the driving motor and is arranged between the driving motor and the eyelid positioning seat. Further, the eyeball structure of the bionic robot comprises a driving motor pressing plate, and the driving motor pressing plate is fixedly arranged on the eyeball support and plays a limiting and fixing role on the driving motor. The bionic robot comprises an eyeball structure of the bionic robot, and the eyeball structure of the bionic robot is detachably arranged i